:root {
  --text: #1d2327;
  --muted: #58636d;
  --line: #d9e0e6;
  --paper: #ffffff;
  --wash: #f5f7f9;
  --accent: #0f766e;
  --ink: #20262d;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  color: var(--text);
  background: var(--paper);
  font-family: "Noto Sans", "Google Sans", Arial, sans-serif;
  line-height: 1.65;
}

a {
  color: #2563eb;
  text-decoration: none;
}

a:hover,
a:focus {
  color: var(--accent);
}

img {
  display: block;
  max-width: 100%;
}

.site-navbar {
  min-height: 52px;
  display: flex;
  align-items: stretch;
  justify-content: space-between;
  border-bottom: 1px solid var(--line);
  background: var(--paper);
}

.navbar-brand,
.navbar-menu {
  display: flex;
  align-items: stretch;
}

.nav-title,
.navbar-menu a {
  min-height: 52px;
  display: flex;
  align-items: center;
  padding: 0.5rem 0.75rem;
}

.nav-title {
  color: var(--ink);
  font-weight: 700;
}

.navbar-menu a {
  color: var(--muted);
  font-size: 0.95rem;
}

.nav-title:hover,
.navbar-menu a:hover {
  color: var(--accent);
  background: #fafafa;
}

.publication-hero {
  border-bottom: 1px solid var(--line);
  background: var(--paper);
}

.publication-container {
  width: min(calc(100% - 3rem), 1180px);
  margin: 0 auto;
  padding: 4.3rem 0 3.4rem;
  text-align: center;
}

.publication-title {
  max-width: 1040px;
  margin: 0 auto 1.4rem;
  color: var(--ink);
  font-family: "Google Sans", "Noto Sans", Arial, sans-serif;
  font-size: clamp(2rem, 4vw, 3.45rem);
  font-weight: 700;
  line-height: 1.08;
  letter-spacing: 0;
}

.publication-authors {
  color: var(--muted);
  font-size: 1.05rem;
}

.author-list {
  display: flex;
  flex-wrap: nowrap;
  justify-content: center;
  gap: 0.35rem 1rem;
  margin-bottom: 0.55rem;
}

.author-block {
  white-space: nowrap;
}

sup {
  color: var(--accent);
  font-size: 0.72em;
  line-height: 0;
}

.affiliation-list {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.35rem 1rem;
  margin-top: 0.25rem;
}

.author-notes {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.35rem 1.2rem;
  margin-top: 0.75rem;
  color: var(--muted);
  font-size: 0.95rem;
}

.publication-links {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.65rem;
  margin-top: 1.6rem;
}

.button {
  display: inline-flex;
  align-items: center;
  gap: 0.45rem;
  min-height: 2.5em;
  padding: 0.5em 1em;
  border: 1px solid transparent;
  border-radius: 6px;
  color: #ffffff;
  background: #363636;
  font-size: 1rem;
  font-weight: 600;
  line-height: 1.5;
}

.button:hover,
.button:focus {
  color: #ffffff;
  background: #202020;
}

.button.is-disabled {
  opacity: 0.48;
  cursor: default;
  pointer-events: none;
}

.button .icon {
  width: 1.1em;
  display: inline-flex;
  justify-content: center;
}

.section {
  padding: 4.2rem 1.5rem;
  scroll-margin-top: 52px;
}

.container {
  width: 100%;
  margin: 0 auto;
}

.desktop-width {
  max-width: 960px;
}

.widescreen-width {
  max-width: 1180px;
}

.overview-section,
.results-section {
  background: var(--wash);
}

.overview-section {
  padding-top: 3rem;
}

.section-title {
  margin: 0 0 1.5rem;
  color: var(--ink);
  font-family: "Google Sans", "Noto Sans", Arial, sans-serif;
  font-size: 2rem;
  line-height: 1.2;
}

.section-heading {
  max-width: 820px;
  margin: 0 auto 2.2rem;
  text-align: center;
}

.section-heading .section-title {
  margin-bottom: 0.65rem;
}

.section-heading p {
  margin: 0;
  color: var(--muted);
  font-size: 0.98rem;
  line-height: 1.6;
}

.figure-panel {
  margin: 0;
}

.figure-panel img {
  width: 100%;
  height: auto;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--paper);
}

.figure-panel figcaption {
  margin-top: 0.72rem;
  color: var(--muted);
  font-size: 0.94rem;
  line-height: 1.55;
  text-align: center;
}

.overview-figure img {
  padding: 0.75rem;
}

.overview-figure figcaption {
  max-width: 920px;
  margin-right: auto;
  margin-left: auto;
  text-align: left;
}

.abstract-content {
  font-size: 1.06rem;
}

.abstract-content p {
  margin: 0 0 1rem;
}

.method-section {
  border-top: 1px solid var(--line);
  background: var(--paper);
}

.method-panel {
  display: grid;
  grid-template-columns: minmax(280px, 0.78fr) minmax(420px, 1.22fr);
  gap: 2.5rem;
  align-items: center;
  padding: 1.45rem;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--paper);
}

.method-figure {
  max-width: 430px;
  justify-self: center;
}

.method-content h3,
.result-header h3,
.analysis-panel h3 {
  margin: 0;
  color: var(--ink);
  font-size: 1.5rem;
  line-height: 1.3;
}

.method-content p {
  margin: 1rem 0;
  color: var(--muted);
}

.method-content ol {
  margin: 1rem 0 0;
  padding-left: 1.35rem;
}

.method-content li {
  margin-bottom: 0.65rem;
}

.equation {
  margin: 1.35rem 0;
  padding: 1rem;
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
  color: var(--ink);
  font-family: Georgia, "Times New Roman", serif;
  font-size: clamp(1.05rem, 2vw, 1.35rem);
  text-align: center;
}

.results-list,
.analysis-list {
  display: grid;
  grid-template-columns: 1fr;
  gap: 1.45rem;
}

.result-panel,
.analysis-panel {
  min-width: 0;
  padding: 1.35rem;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--paper);
}

.result-header {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
  gap: 0.5rem 1rem;
  margin-bottom: 1rem;
}

.result-caption {
  margin: -0.2rem 0 0.9rem;
  color: var(--muted);
  font-size: 0.96rem;
}

.table-wrap {
  overflow-x: auto;
  border: 1px solid var(--line);
  border-radius: 8px;
}

.result-table {
  width: 100%;
  table-layout: fixed;
  border-collapse: collapse;
  color: var(--ink);
  font-size: 0.86rem;
  font-variant-numeric: tabular-nums;
}

.simplerenv-table {
  min-width: 1060px;
}

.libero-table {
  min-width: 940px;
}

.result-table th,
.result-table td {
  padding: 0.62rem 0.65rem;
  border-right: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
  text-align: center;
  overflow-wrap: anywhere;
  white-space: normal;
}

.result-table th:last-child,
.result-table td:last-child {
  border-left: 1px solid var(--line);
  border-right: 0;
}

.result-table tbody tr:last-child td {
  border-bottom: 0;
}

.result-table th {
  color: var(--ink);
  background: #eef3f7;
  font-weight: 700;
  line-height: 1.25;
}

.result-table .model-cell {
  padding-left: 0.8rem;
  text-align: left;
  vertical-align: middle;
}

.result-table .model-start td {
  border-top: 2px solid #c7d0d9;
}

.result-table .ours-row td:not(.model-cell) {
  background: #f1f7f5;
}

.real-robot-panel {
  width: min(100%, 820px);
  margin: 0 auto;
}

.compact-table-wrap {
  max-width: 680px;
  margin: 0 auto;
}

.compact-table {
  min-width: 520px;
}

.analysis-section {
  background: var(--paper);
}

.analysis-panel h3 {
  margin-bottom: 1rem;
}

.analysis-copy {
  max-width: 980px;
  margin: 0 auto 1.1rem;
  color: var(--muted);
  font-size: 0.98rem;
  line-height: 1.65;
}

.analysis-copy p {
  margin: 0 0 0.75rem;
}

.analysis-copy p:last-child {
  margin-bottom: 0;
}

.analysis-panel figcaption {
  max-width: 980px;
  margin-right: auto;
  margin-left: auto;
  text-align: left;
}

.analysis-figure img {
  max-width: 980px;
  margin: 0 auto;
  padding: 0.5rem;
}

.gradient-figure img {
  max-width: 840px;
  margin: 0 auto;
  padding: 0.5rem;
}

.saliency-figure {
  max-width: 620px;
  margin: 2rem auto 0;
}

.saliency-figure img {
  padding: 0.5rem;
}

@media (max-width: 1050px) {
  .author-list {
    flex-wrap: wrap;
  }

  .method-panel {
    grid-template-columns: 1fr;
  }

  .method-figure {
    max-width: 390px;
  }
}

@media (max-width: 720px) {
  .site-navbar {
    align-items: center;
  }

  .navbar-menu {
    max-width: calc(100% - 70px);
    overflow-x: auto;
  }

  .navbar-menu a {
    flex: 0 0 auto;
    font-size: 0.85rem;
  }

  .publication-container {
    width: min(calc(100% - 2rem), 1180px);
    padding: 3rem 0 2.7rem;
  }

  .publication-title {
    font-size: 2rem;
  }

  .author-list .author-block {
    white-space: normal;
  }

  .section {
    padding: 3rem 1rem;
  }

  .method-panel,
  .result-panel,
  .analysis-panel {
    padding: 1rem;
  }

  .result-table {
    font-size: 0.82rem;
  }
}

@media (prefers-reduced-motion: reduce) {
  html {
    scroll-behavior: auto;
  }
}